PID Experiments Dashboard

P Proportional only (Ki=0, Kd=0) — Steady-state error, no damping

Joint	Kp	Ki	Kd
Shoulder Pan	231.0	0.0	0.0
Shoulder Lift	274.1	0.0	0.0
Elbow Flex	96.6	0.0	0.0
Wrist Flex	82.4	0.0	0.0
Wrist Roll	187.3	0.0	0.0

Joint	Kp	Ki	Kd
Shoulder Pan	41.3	0.0	0.0
Shoulder Lift	172.4	0.0	0.0
Elbow Flex	84.6	0.0	0.0
Wrist Flex	134.3	0.0	0.0
Wrist Roll	185.9	0.0	0.0

Joint	Kp	Ki	Kd
Shoulder Pan	192.2	0.0	0.0
Shoulder Lift	116.9	0.0	0.0
Elbow Flex	234.2	0.0	0.0
Wrist Flex	136.6	0.0	0.0
Wrist Roll	244.8	0.0	0.0

Joint	Kp	Ki	Kd
Shoulder Pan	280.6	0.0	0.0
Shoulder Lift	136.3	0.0	0.0
Elbow Flex	106.7	0.0	0.0
Wrist Flex	259.7	0.0	0.0
Wrist Roll	124.3	0.0	0.0

Joint	Kp	Ki	Kd
Shoulder Pan	160.8	0.0	0.0
Shoulder Lift	184.9	0.0	0.0
Elbow Flex	265.4	0.0	0.0
Wrist Flex	34.6	0.0	0.0
Wrist Roll	238.5	0.0	0.0

PD Proportional + Derivative (Ki=0) — Damping, steady-state error remains

Joint	Kp	Kd
Shoulder Pan	103.6	264.4
Shoulder Lift	6.4	14.8
Elbow Flex	127.8	288.9
Wrist Flex	219.5	132.6
Wrist Roll	294.1	9.8

Joint	Kp	Kd
Shoulder Pan	165.1	202.6
Shoulder Lift	119.6	198.8
Elbow Flex	3.6	256.2
Wrist Flex	48.1	13.2
Wrist Roll	280.9	129.8

Joint	Kp	Kd
Shoulder Pan	95.0	47.9
Shoulder Lift	44.6	270.1
Elbow Flex	277.1	197.5
Wrist Flex	76.7	175.5
Wrist Roll	277.9	50.8

Joint	Kp	Kd
Shoulder Pan	199.6	254.3
Shoulder Lift	128.8	214.5
Elbow Flex	26.5	264.4
Wrist Flex	244.0	184.1
Wrist Roll	253.9	257.1

Joint	Kp	Kd
Shoulder Pan	145.5	293.6
Shoulder Lift	203.5	46.4
Elbow Flex	285.3	213.3
Wrist Flex	160.8	83.8
Wrist Roll	134.7	262.5

PI Proportional + Integral (Kd=0) — Eliminates SS error, may oscillate

Joint	Kp	Ki
Shoulder Pan	239.9	178.6
Shoulder Lift	46.6	71.7
Elbow Flex	118.0	59.5
Wrist Flex	172.8	270.6
Wrist Roll	38.7	166.9

Joint	Kp	Ki
Shoulder Pan	139.2	231.2
Shoulder Lift	26.4	150.6
Elbow Flex	252.6	219.3
Wrist Flex	132.2	273.7
Wrist Roll	39.7	39.4

Joint	Kp	Ki
Shoulder Pan	223.4	38.8
Shoulder Lift	130.7	106.5
Elbow Flex	32.7	287.2
Wrist Flex	0.6	70.3
Wrist Roll	187.9	59.7

Joint	Kp	Ki
Shoulder Pan	145.9	73.7
Shoulder Lift	285.6	214.2
Elbow Flex	96.8	41.5
Wrist Flex	170.9	44.7
Wrist Roll	163.5	235.6

Joint	Kp	Ki
Shoulder Pan	229.7	192.3
Shoulder Lift	287.3	136.6
Elbow Flex	200.8	205.6
Wrist Flex	91.6	111.5
Wrist Roll	178.8	241.5

PID Full PID — Eliminates SS error with damping

Joint	Kp	Ki	Kd
Shoulder Pan	172.3	155.7	121.1
Shoulder Lift	227.5	209.7	247.3
Elbow Flex	135.6	82.9	94.2
Wrist Flex	67.0	153.1	166.2
Wrist Roll	43.0	205.1	264.9

Joint	Kp	Ki	Kd
Shoulder Pan	283.8	38.0	173.8
Shoulder Lift	68.9	93.5	134.5
Elbow Flex	14.5	113.4	208.5
Wrist Flex	232.0	59.7	262.6
Wrist Roll	88.2	210.3	292.8

Joint	Kp	Ki	Kd
Shoulder Pan	161.8	81.8	287.0
Shoulder Lift	206.3	254.6	260.6
Elbow Flex	256.1	254.9	256.1
Wrist Flex	169.5	171.1	137.2
Wrist Roll	168.0	133.6	6.9

Joint	Kp	Ki	Kd
Shoulder Pan	195.0	131.9	56.9
Shoulder Lift	208.4	164.6	53.9
Elbow Flex	255.8	224.5	299.8
Wrist Flex	268.5	65.9	291.3
Wrist Roll	258.6	131.8	198.3

Joint	Kp	Ki	Kd
Shoulder Pan	142.7	293.7	222.1
Shoulder Lift	197.5	292.4	201.7
Elbow Flex	193.4	294.9	299.4
Wrist Flex	32.4	42.9	1.6
Wrist Roll	84.7	230.4	171.4